Return the centroid of the moving body as a temporal point

centroid(trgeometry) → tgeompoint

SELECT asText(centroid(
  trgeometry 'Polygon((0 0, 1 0, 1 1, 0 1, 0 0));[Pose(Point(0 0),0)@2001-01-01, Pose(Point(2 0),0)@2001-01-02]'));
-- Interp=Step;[POINT(0.5 0.5)@2001-01-01, POINT(2.5 0.5)@2001-01-02]

Return the convex hull of the area traversed by the moving body

convexHull(trgeometry) → geometry

SELECT ST_GeometryType(convexHull(
  trgeometry 'Polygon((0 0, 1 0, 1 1, 0 1, 0 0));[Pose(Point(0 0),0)@2001-01-01, Pose(Point(2 0),0)@2001-01-02]'));
-- ST_Polygon

Return the world-frame trajectory of a body-frame point carried by the moving rigid geometry. The point is expressed in the reference shape's local frame and the time-varying pose is applied to it at each instant.

bodyPointTrajectory(trgeometry, geometry) → tgeompoint

SELECT asText(bodyPointTrajectory(
  trgeometry 'Polygon((0 0, 1 0, 1 1, 0 1, 0 0));[Pose(Point(0 0),0)@2001-01-01, Pose(Point(2 0),0)@2001-01-02]',
  geometry 'Point(0 0)'));
-- Interp=Step;[POINT(0 0)@2001-01-01, POINT(2 0)@2001-01-02]